ES2562824T3 - Autonomous compact covering robot - Google Patents

Abstract

Autonomous covering robot (100, 101) comprising: a chassis (200) having front and rear parts (210, 220), the front part (210) defining a substantially rectangular shape and the rear part (220) defining a shape arched a drive system (400) carried by the chassis configured to maneuver the robot (100, 101) on a cleaning surface; right and left differentially driven drive wheels (410, 420); a cleaning assembly (500) mounted on the front of the chassis (200); a garbage compartment (610) disposed adjacent to the cleaning assembly (500) and configured to receive agitated waste by the cleaning assembly (500); an anti-shock sensor configured to detect movement in multiple directions; characterized in that the cleaning assembly (500) comprises: a first roller brush (510) rotatably mounted near the front edge (202) of the chassis (200); and a second roller brush (520) rotatably mounted substantially parallel to and behind the first roller brush (510), rotating the first and second roller brushes (510, 520) in opposite directions.

Description

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DESCRIPTION

Autonomous compact covering robot Technical field

The present invention relates to autonomous covering robots for cleaning floors or other surfaces. Background

Autonomous robots are robots that can perform desired tasks in unstructured environments without continuous human gma. Many kinds of robots are autonomous in some degree. Different robots can be autonomous in different ways. An autonomous covering robot crosses a work surface without continuous human gma to perform one or more tasks. In the field of home, office and / or consumer-oriented robotics, mobile robots that perform domestic functions such as vacuuming, washing the floor, monitoring, mowing and other tasks have been widely adopted.

Mobile robots for floor cleaning have been described, for example, in US Pat. No. 6,883,201 by Jones et al. ("JONES"), which describes an autonomous floor cleaning robot that crosses a floor while removing waste using rotating brushes, vacuum cleaners or other cleaning mechanisms. JONES also describes a robot that has a generally round design supported by three wheels, which can rotate freely to maneuver, among other things, around obstacles.

International Patent Publication WO 03/024292 A2 describes a dust collector of movable soil type comprising at least one electromotive actuator, a dust collector container and a protective cover. The basic shape of the device differs from that of a circle. With a view to producing the dust collector of movable soil type mentioned above, and in particular, with a view to improving its cleaning function, its basic form consists of a circular section and a section with a shape that tends to be rectangular. The rectangular section is arranged upstream in the direction of travel.

U.S. Patent Publication UU. No. 2004/0187249 A1 shows an autonomous floor cleaning robot that comprises a module with a self-adjusting cleaning head that includes a two-stage brush assembly that has asymmetric brushes that rotate one as opposed to the other and a set of adjacent aspiration, although independent, so that the efficiency and cleaning capacity of the module with self-adjusting cleaning head is optimized while minimizing its consumption requirements. The autonomous floor cleaning robot also includes a set of side brushes to direct the particulate material out of the robot's jacket and in the module with a self-adjusting cleaning head.

Summary

The invention relates to an autonomous covering robot as set forth in claim 1. Preferred embodiments are described in dependent claims 2 to 15.

Next, a compact mobile robot for cleaning floors, countertops and other related surfaces, such as tiles, wooden floors or carpeting, is described. The robot has a rectangular front design that facilitates cleaning along wall edges or corners. In one example, the robot includes both a rounded section and a rectangular section, in which a cleaning mechanism within the rectangular section is arranged proximally to opposite lateral corners of the rectangular section. As an advantage, the robot can maneuver in order to place the rectangular section at the same level as a wall corner or a wall edge, with the cleaning mechanism extending towards the wall corner or the wall edge.

In another aspect, an autonomous covering robot includes a chassis that has front and rear parts, and a drive system carried by the rear of the chassis. The front part defines a substantially rectangular shape and the rear part defines an arched shape. The drive system is configured to maneuver the robot on a cleaning surface and includes right and left drive wheels differentially driven by corresponding right and left motors. The robot includes a controller in communication with the drive system. The controller is configured to maneuver the robot so that it pivots on itself. The robot includes a cleaning assembly mounted on the front of the chassis and includes a first roller brush mounted rotatably substantially near a leading edge of the chassis and a second roller brush mounted rotatably substantially parallel to the first roller brush and behind it. The first and second roller brushes rotate in opposite directions. A garbage compartment is arranged behind the cleaning set and is configured to receive agitated waste through the cleaning set. A garbage compartment cover is pivotally attached to a lower part of the chassis and is configured to rotate between a first closed position, which provides the closure of an opening defined by the garbage compartment and a second open position that provides access to the trash compartment opening. The robot includes a release of

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Garbage compartment cover configured to control the movement of the garbage compartment cover between its first and second positions. A handle is arranged in the chassis. The cover release of the garbage compartment can be operated from substantially close to the handle. A body is flexibly attached to the chassis and substantially covers the chassis. The body can move in relation to the handle and the chassis. The robot includes an anti-shock sensor in communication with the controller and configured to detect movement in multiple directions. Contact with the body is transferred to the anti-shock sensor for detection. The controller is configured to alter a direction of travel of the robot in response to a signal received from the anti-shock sensor.

Applications of this aspect of the description may include one or more of the following features. In some applications, the anti-shock sensor includes a sensor base, a sensor housing, located adjacent to the sensor base and attached to the body, a transmitter, housed in the sensor housing, and at least three detectors carried at the base of the sensor. sensor. The emitter emits a signal to the sensor base and the detectors detect the emitted signal. The movement of the sensor housing causes the movement of the signal emitted on the detectors.

In some applications, the robot includes a large bumper configured to confine body movements along two directions. The bumper handle can include two orthogonal grooves defined in the body and configured to receive a large pin arranged in the chassis.

The robot can include a crazy wheel arranged on the cover of the garbage compartment. In some examples, the rear of the chassis defines a substantially semicircular shape and the idler wheel is located at least 1/3 of the radius of the substantially semicircular shaped rear in front of the drive wheels.

In specific examples, the drive wheels are arranged less than 9 cm behind the cleaning assembly. The robot may include a power supply arranged at the rear of the chassis, substantially between the right and left wheels. The power supply is arranged adjacently and behind the garbage compartment. The cleaning assembly further comprises a brush motor configured to drive the first and second roller brushes. In some examples, the brush motor is arranged substantially near a leading edge of the chassis. The first roller brush may be disposed substantially near the leading edge of the chassis.

Applications of the description may include one or more of the following features. In some applications, the right and left drive wheels are rotatably mounted on the rear of the chassis and the drive system is capable of maneuvering the robot to pivot on itself. Preferably, the back of the chassis defines an arcuate shape; however, other shapes, such as rectangular or polygonal, are also possible. In some examples, the rear of the chassis defines a substantially semicircular shape and the axes of the right and left driving wheels are arranged on or behind a central axis defined by the rear of the chassis. In some applications, the chassis and body together have a length of less than 23 cm and a width of less than 19 cm.

In some applications, the robot includes at least one proximity sensor carried by a dominant side of the robot. The at least one proximity sensor responds to an obstacle substantially close to the body. The controller changes a direction of travel in response to a signal received from the at least one proximity sensor.

In some applications, the robot includes at least one slope sensor carried by a front part of the body and arranged substantially near a leading edge of the body. The at least one slope sensor responds to a possible slope ahead of the robot. The drive system changes a direction of travel in response to a signal received from the uneven sensor indicating a possible unevenness. In some examples, right and left front slope sensors are arranged in corresponding right and left corners of a front part of the robot. This allows the robot to detect the moment at which any of the front corners oscillates on an uneven edge, in order to prevent the driving wheels from approaching the uneven edge. In some applications, the robot includes at least one uneven sensor carried by a rear part of the body and arranged substantially near the rear edge of the body. The at least one slope sensor responds to a possible slope behind the robot. The drive system changes a direction of travel in response to a signal received from the uneven sensor indicating a possible unevenness. In some examples, right and left rear slope sensors are arranged directly behind the right and left drive wheels. This allows the robot to detect an uneven edge while traveling in reverse gear at an angle or in an arc, in which the driving wheel can find the uneven edge before the rear central part of the robot.

In some applications, the robot includes a crazy wheel arranged on the garbage compartment cover. Preferably, the back of the chassis defines a substantially semicircular shape, which allows the robot to rotate on itself without trapping any portion of the back of the chassis in a detected obstacle. The idler wheel is located at least one third of the radius of the rear with a substantially semicircular shape in front of the driving wheels. In some examples, the crazy wheel is a stasis detector that includes a

magnet arranged in or on the crazy wheel, and a magnet detector arranged adjacent to the wheel to detect the magnet as the crazy wheel rotates.

In other more general aspects that can be combined with any of the above applications, an autonomous covering robot includes a chassis and a drive system carried by the chassis. The 5 drive system is configured to maneuver the robot on a cleaning surface. In some examples, the drive system includes differentially driven right and left drive wheels; however, other robot drive means, such as sliding direction tracks, can also be applied. In some examples, the chassis has front and rear parts, with the front part defining a substantially rectangular shape. Optionally, the back can define an arched shape.

10 In some applications, the robot includes a cleaning assembly mounted on the front of the chassis (for example, substantially near a leading edge of the chassis). A garbage compartment is arranged adjacent to the cleaning set and configured to receive agitated waste by the cleaning set. In some examples, a garbage compartment cover is pivotally attached to the robot and is configured to rotate between a first closed position, which provides the closure of an opening defined by the garbage compartment, and a second open position, which Provides access to the trash compartment opening. In other examples, the garbage compartment cover is slidably attached to the robot and slides between the first closed position and the second open position.

In some applications, a body is attached to the chassis. The body can adapt to the profile of the chassis. In some examples, the body is flexible or is movably attached to the chassis. The robot may include a handle for transporting the robot. The handle can be arranged on the body or on the chassis. If the handle is arranged in the chassis, the body is allowed to move with respect to the handle and / or the chassis. The robot may include a garbage compartment cover release configured to control the movement of the garbage compartment cover between its first and second positions. Preferably, the compartment cover release can be operated from substantially close to the handle. However, the release of the garbage compartment cover can be operated from substantially near or on the garbage compartment cover.

In some applications, the robot includes an anti-shock sensor, which can be configured to detect movement in multiple directions. In some examples, contact with the body is transferred to the anti-shock sensor for detection. The robot may include a controller configured to modify a direction of travel of the robot in response to a signal received from the anti-shock sensor. In some examples, the robot includes an accelerometer in communication with the controller, so that the controller controls the drive system in response to a signal received from the accelerometer.

The details of one or more applications of the description are set forth in the accompanying drawings and in the following description. Other features, objects and advantages will be clear from the description and drawings, and from the claims.

35 Description of the drawings

Figure 1 is a top perspective view of an autonomous robot with a compact covering.

Figure 2 is a bottom perspective view of the robot shown in Figure 1.

Figure 3 is a top view of the robot shown in Figure 1.

Figure 4 is a bottom view of the robot shown in Figure 1.

40 Figure 5 is an exploded view of the upper aspect shown in Figure 1.

Figure 6 is a front view of the robot shown in Figure 1.

Figure 7 is a rear view of the robot shown in Figure 1.

Figure 8 is a left side view of the robot shown in Figure 1, with a garbage compartment cover in its open position.

45 Figure 9 is a right side view of the robot shown in Figure 1.

Figure 10 is a top perspective view of an autonomous robot of compact coverage.

Figure 11A is a side view of a stasis detector.

Figure 11B is a schematic top view of an autonomous robot of compact coverage.

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Figure 11C is a schematic side view of an autonomous robot of compact coverage.

Figure 12A is a top view of an autonomous robot with a compact cover sliding along a wall.

Figure 12B is a top view of an autonomous robot with a compact covering colliding with a wall.

Figure 13A is a schematic top view of an autonomous robot with a compact cover and a bumper handle.

Figure 13B is a side sectional view of an anti-shock sensor.

Figure 13C is a schematic top view of an anti-shock sensor system with a bumper handle. Figure 13D is a perspective view of an anti-shock sensor system.

Figure 14 is a shaded outline diagram of the view of the compact cleaning robot shown in Figure 3.

Figure 15 is an exploded perspective view of an omnidirectional sensor.

Figure 16 is a side view of the omnidirectional sensor shown in Figure 15.

Figure 17 is a top perspective view of an autonomous robot of compact coverage.

Figure 18 is a bottom perspective view of the robot shown in Figure 17.

Figure 19 is a top view of the robot shown in Figure 17.

Figure 20 is a bottom view of the robot shown in Figure 17.

Figure 21 is an exploded view of the upper aspect shown in Figure 17.

Figure 22 is a front view of the robot shown in Figure 17.

Figure 23 is a rear view of the robot shown in Figure 17.

Figure 24 is a left side view of the robot shown in Figure 17, with a garbage compartment cover in its open position.

Figure 25 is a right side view of the robot shown in Figure 17.

Figure 26 is an oblique view of a compact cleaning robot that is rectangular in shape, crossing an edge

of wall.

Figure 27 is a plan view of a compact cleaning robot that navigates flush towards a wall corner.

Figure 28 is a plan view of a round robot that navigates towards a wall corner, illustrating a space that the robot cannot cross.

Figures 29 to 32 together provide a schematic view of a control circuit for an autonomous covering robot.

Figure 33 is a schematic view of a software architecture for an autonomous covering robot behavior system.

Similar reference symbols in the different drawings indicate similar elements.

Detailed description

Referring to Figures 1 to 3, an autonomous covering robot 100 includes a chassis 200 having a front part 210 and a rear part 220. The front part 210 of the chassis 200 defines a substantially rectangular shape. In the example shown, the back 220 of the chassis 200 defines an arcuate shape (for example, in the example shown, the back 220 is rounded); however, the back 220 may also define other shapes, such as, but not limited to, rectangular, triangular, pointed, or wavy shapes.

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Referring to Figures 1 and 5, the robot 100 includes a body 300 configured to substantially follow the contours of the chassis 200. The body 300 can be flexibly connected to the chassis 200 (for example, by means of a spring or elastic element), for that moves on the chassis 200. In some examples, a handle 330 is arranged in or defined by an upper part of the body 300. In other examples, the handle 330 is secured in or extends from a mounting piece 332, which is secured on an upper part 205 of the chassis 200. The mounting part 332 can be extrafole and interchangeable with other mounting parts 332 that have different arrangements or carry other components (for example, different handles 330 and / or sensors). The body 300 moves with respect to the mounting piece 332 and the chassis 200. In the example shown, the body 300 floats below the mounting piece 332. The mounting piece 332 can be circular and sized to be displaced. from a respective opening defined by an upper part (305) of the body 300, in order to provide a 360 ° displacement limit for the movement of the body (for example, between 2 and 4 mm of bumper movement) due to contact with the body (for example, along a lower part 303 of the body 300 (see Figure 8)). The robot 100 (including the chassis 200 and the body 300) has a compact size with a length of less than 23 cm and a width of less than 19 cm.

Referring to Figures 4 and 5, the robot 100 includes a drive system 400 carried by the chassis 200 and configured to maneuver the robot 100 on a cleaning surface. In the example shown, the drive system 400 includes right and left drive wheels 410 and 420, respectively, which are differentially driven by corresponding right and left drive motors 412 and 422, respectively. The drive motors 412, 422 are mounted above their respective drive wheels 410, 420, in the example shown, to help maintain the compact size of the robot 100. However, other applications include having the drive motors 412, 422 mounted adjacent (for example, coaxially with) to their respective drive wheels 410, 420. In some examples, the robot includes a gearbox 414, 424 coupled between the drive wheel 410, 420 and its respective drive motor 412, 422. The gearboxes 414, 424 and the drive motors 412, 422 are configured to propel the robot at a maximum speed of between approximately 200 mm / s and approximately 400 mm / s (preferably 306 mm / s) and with a maximum acceleration of approximately 500 mm / s2. In some applications, the central axes of the drive wheels 410, 420 are arranged less than 9 cm (preferably 8 cm) behind a cleaning assembly 500, which will be described below. The robot 100 includes a controller 450 in communication with the drive system 400. The controller 450 is configured to maneuver the robot 100 to pivot on itself.

The advantage of the conventional cylindrical robot with drive wheels arranged on the robot diameter is that its rotation will not be hindered in the presence of obstacles. This allows a simple and effective escape strategy, turn on itself until no objects are detected in front of the robot. If the robot is not cylindrical or the wheel rotation axes are not in a diameter of the robot, then the normal and tangential forces on the robot change as the robot rotates while it comes into contact with an object. To ensure that such an unconventional robot is able to escape an arbitrary collision, the forces and torques applied to the robot by the environment cannot be combined with the forces and torques generated by the robot to stop the robot's movement. In practice this means that the robot's shape must have a constant width (within the distance compatible with the cover) and that the robot wheels have to be able to move laterally. Particular forms then demand different requirements for maximum lateral wheel forces and for a maximum permissible environmental friction coefficient. However, the robot 100 currently described, in some examples, has a rectangular front part 210 to allow complete cleaning at the corners.

Referring again to the example shown in Figure 4, a profiled circle 221 defining the substantially semicircular profile of the back 220 of the chassis 200 extends within the front part 210 of the chassis 200 and has a central axle 223. The wheels drives 410, 420 are located on or substantially near the central axis 223 of the profiled circle 221. In the example shown, the drive wheels 410, 420 are positioned slightly behind the central axis 223 of the profiled circle 221. When positioning the driving wheels 410 , 420 in or behind the central axis 223 of the profiled circle 221, the robot 100 can rotate on itself without trapping the rear part 220 of the chassis 200 over an obstacle.

Referring to Figures 2, 4 and 5 to 9, the robot 100 includes a cleaning assembly 500 mounted at the front 210 of the chassis 200, substantially near a leading edge 202 of the chassis 200. In the examples shown, the assembly of cleaning 500 includes first and second roller brushes 510, 520 rotatably mounted substantially parallel to each other Roller brushes 510, 520 are driven by a cleaning motor 530 coupled to a middle part of roller brushes 510, 520 by a gearbox 532. The cleaning motor 530 is placed above the roller brushes 510, 520 to confine the cleaning assembly 500 at the front 210 of the chassis 200 and to help maintain a compact robot with a relatively size small. Each roller brush 510, 520 may include an end brush 540 disposed at each longitudinal end 512, 514, 522, 524 of the roller brush 510, 520. Each end brush 540 is arranged at an angle $ with a longitudinal axis 513, 523 defined by roller brush 510, 520 between 0 ° and approximately 90 ° (preferably 45 °). The end brush 540 extends beyond the chassis 200 and the body 300 (for example, beyond the respective right and left side edges 306, 308) to stir debris into

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or along objects adjacent to the robot 100 (for example, to clean the walls). Other applications of the cleaning assembly 500 will be described later with reference to another application of the robot 100.

Referring to Figures 1 to 5, 8 and 10, the robot 100 includes a garbage compartment assembly 600 disposed adjacent to the cleaning assembly 500 and configured to receive agitated waste by the cleaning assembly 500. In some examples, the chassis 200 define a waste chamber or garbage compartment 610 (see figure 10). In other examples, a garbage compartment 610 is disposed under the chassis and placed to receive agitated waste by the cleaning assembly 500. In the examples shown, the garbage compartment 610 is placed substantially between the cleaning assembly 500 and the cleaning system. drive 400. Specifically, the garbage compartment 610 is in front of the drive wheels 410, 420 and behind the roller brushes 510, 520.

Preferably, the waste chamber / trash compartment 610 is defined by, and therefore formed as a single piece with, the chassis 200. In an alternative configuration, the robot 101 may include a removable modular cartridge or bag that serves as the chamber of waste / garbage compartment 610, so that the user can eliminate waste by removing and emptying the cartridge or bag. The cartridge or bag 610 is secured to the chassis 200 in a removable manner.

A garbage compartment cover 620 is pivotally attached to a bottom 203 of the chassis 200 and configured to rotate between a first closed position, which provides the closure of an opening 612 defined by the garbage compartment 610, and a second position open, which provides access to the garbage compartment opening 610. In some examples, the garbage compartment cover 620 is releasably connected to the chassis 200 by one or more hinges 622. The garbage compartment assembly 600 includes a release of garbage compartment cover 630 configured to control the movement of garbage compartment cover 620 between its first and second positions. The trash compartment cover release 630 is configured to move between a first lock position, which locks the trash compartment cover 620 in its first closed position, and a second, unlocked position that allows the compartment compartment cover Trash 620 moves to its second open position (see Figure 8). The release of the garbage compartment cover 630 can be operated from substantially near or on the handle 330, thereby allowing the operation of the garbage compartment cover release 630 while holding the handle 330. This allows a user to take the robot 100 by the handle 330 with one hand, hold the robot 100 on a garbage container (not shown), and actuate the release of the garbage compartment cover 630 with the same hand that holds the handle 330 to release the compartment cover of garbage 620 and empty the contents of the garbage compartment 610 into the garbage container. In some applications, the garbage compartment cover release 630 is a spring-loaded latch or closure button that can be selected by pressing down (for example, a button) or by pulling up (for example, an activator).

The robot 100 includes a power supply 160 (for example, a battery) in communication with the drive system 400 and / or the controller 450, and detachably secured to the chassis 200. In the examples shown in Figures 2, 4 , 5, and 7 and 8, the power supply 160 is received by a power receptacle 260 defined by the back 220 of the chassis 200. In some examples, the power supply 160 is placed substantially below the controller 450 and between the right and left drive wheels 410, 420, while extending forward enough distance to place a center of gravity of the robot 100 substantially in the center of the chassis 200 or substantially between a first transverse axis 415 defined by the driving wheels 410, 420 and a second transverse axle 425 defined by a freewheel 722 (for example, a stasis wheel 722) (see Figure 4). If the weight of the power supply 160 is placed too far behind, there will not be enough weight on the cleaning assembly 500, allowing the front part 210 of the chassis 200 to tip up. Being a compact robot 100 with a relatively small size, the arrangement of components on and inside the chassis 200 is important to achieve the compact size of the robot 100 while remaining functional. Referring to figures 5 and 8, the waste chamber / garbage compartment 610 prevents the placement in front of the power supply 160 (for example, the power supply 160 is limited to its placement on the back 210 of the chassis 200 ). However, the power supply 160 is placed between the drive wheels 410, 420 and as far as possible, substantially adjacent to the garbage compartment 610, in order to place the center of gravity of the robot in front of the first defined transverse axis 415 by the driving wheels 410, 420. By placing the center of gravity in front of the driving wheels 410, 420, the robot 100 is less likely to lean up and back (for example, when it exceeds thresholds).

Referring to figures 1 to 11, the robot 100 includes a navigation sensor system 700 in communication with the controller 450 that allows the robot 100 to be aware of its environment / environment and react in intended ways or behave according to the perception detected from its environment / environment. A description of a behavior control can be found in detail in Jones, Flyun & Seiger, Mobile Robots: Inspiration to Implementation, second edition, 1999, AK Peters, Ltd. The 700 navigation sensor system includes one or more elevation sensors 710, a stasis detector 720, a proximity sensor 730, at least one anti-shock sensor 800, and / or an omnidirectional receiver 900. With the use of inputs from the

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Navigation sensor system 700, the controller 450 generates orders to be performed by the robot 100. As a result, the robot 100 is capable of cleaning surfaces autonomously.

The slope sensors 710 can be used to detect the moment in which the robot 100 meets the edge of the floor or the work surface, for example, when it encounters a set of stairs. The robot 100 may have behaviors that make it a decision, for example, to change the direction of the march, when it detects an edge. In the examples shown in Figures 2, 4, 5 and 10, the body 300 of the robot 100 houses four slope sensors 710 along a penimeter of the body 300, with two slope sensors 710 substantially along an edge front 302 of a front part 310 of the body 300 (preferably near front outer corners or side edges) and two slope sensors 710 substantially along a rear edge 304 of a rear part 320 of the body 300 (preferably near outside corners rear or side edges) (see figure 4). Each slope sensor 710 includes a transmitter 712 that sends a signal and a receiver 714 configured to detect a reflected signal. In some applications, the slope sensors 1074 can be installed inside a mounting device that stabilizes and protects the sensor and positions the sensor so that it points towards the window installed at the bottom of the mounting device. Together, the sensor, the mounting apparatus and the window comprise an uneven sensor unit. The reliability of the slope sensor 710 can be increased by reducing dust accumulation. In some applications, a window may be installed in the lower part of the mounting apparatus that includes a shield mounted within an inclined molding composed of a material that prevents the accumulation of dust, such as an antistatic material. The shield component and the molding can be welded together. To further facilitate the reduction of dust and dirt accumulation, the shield can be mounted inclined to allow dirt to slide out more easily. In some applications, a secondary slope sensor 710 may be present behind existing slope sensors 710 to detect ground edges in the event that a main slope sensor 710 fails.

Robots that define shapes of constant width can rotate on themselves around their centroid accordingly. A constant width shape is a convex flat shape whose width, measured by the distance between two opposite parallel lines that touch its limit, is the same regardless of the direction of those two parallel lines. The width of the shape in a given direction is defined as the perpendicular distance between the parallels perpendicular to this direction. The Reuleaux triangle is the simplest example (after the circle) of shapes of constant width. However, in the examples shown, the robot 100 has a front part 210 of the chassis 200 with a rectangular shape, and therefore does not have a robot of constant width, which can prevent the robot from rotating on itself to escape various positions of jam, such as, among others, coffee situations. Coffee situations arise when the robot 100 descends down a narrow aisle (with side walls) or an iron (with side slopes) that is slightly wider than the robot 100. When the robot 100 reaches the end of the aisle or iron, it can only escape by running back down the aisle or withdrawing from the iron. If the robot 100 tries to rotate on itself (for example, rotate 180 °), one of the corners of the robot will collide with a wall or fall on a slope. In the case of unevenness, the placement of uneven sensors 710 substantially along a rear edge 304 of the body 300 or a rear edge 204 of the chassis 200 allows the robot 100 to return intelligently to escape without falling into a slope . Similarly, the anti-shock sensor 800, which will be described below, detects subsequent shocks, allowing the robot 100 to exit narrow aisles.

Referring to figures 2, 4, 5 and 11A, the stasis detector 720 indicates the moment in which the robot 100 is in motion or stopped. In the examples shown, the stasis detector 720 includes a stasis wheel 722 with a magnet 724 embedded in or disposed on the wheel 722. A magnetic receiver 726 (for example, an inductor) is positioned adjacent the wheel 722 to detect the wheel 722. step of the magnet 724. The magnetic receiver 726 provides an output signal to the controller 450 which indicates when the magnet 724 passes through the magnetic receiver 726. The controller 450 may be configured to determine the speed at which the robot 100 travels and the distance that it travels based on the output signal of the magnetic receiver 726 and the circumference of the stasis wheel 722. In other applications, the stasis detector 720 includes a stasis wheel 722 with a circumferential surface having at least two different reflection characteristics (for example, black and white). A stasis emitter and receiver pair (for example, infrared) is arranged adjacent to the stasis wheel 722. The stasis transmitter is configured to emit a signal to the circumferential surface of the stasis wheel 722, and the stasis receiver is configured to detect or receive a reflected signal from the circumferential surface of the stasis wheel 722. The stasis detector 720 monitors transitions between states of reflection and states of non-reflection to determine if robot 100 is moving, and perhaps even The speed of movement.

Again, due to the compact nature of the robot 100 and the compact placement of components, the stasis wheel 722 acts as a third wheel for stable ground contact. If the stasis wheel 722 were placed in front of the cleaning assembly 500, it would have to be an adjustable wheel, instead of a directional wheel, which drags an arc when the robot 100 rotates. However, the need for a rectangular front part 210 of the chassis 200, in order to completely clean the corners, prohibits the placement of the stasis wheel 722 in front of the cleaning assembly 500 (which, for example, results in a shape different from the

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rectangular). A wheel is needed in front of the drive wheels 410, 420 to lift the front part 210 of the chassis 200 to a height suitable for cleaning and rotating the brushes.

Referring again to Figure 4, the stasis wheel 722 is arranged in the garbage compartment cover 620, just behind the cleaning assembly 500 and in front of the drive system 400 and the power supply 160. The wheel of stasis / loca 722 is placed in front of the drive wheels 410, 420, in front of the central axis 223 of the profiled circle 221, and inside the profiled circle 221. This placement of the stasis wheel 722 allows the robot 100 to rotate on sf without substantially dragging the stasis wheel 722 through its bearing direction, while also providing support and stability to the front part 210 of the chassis 200. Preferably, the stasis wheel 722 is placed at least one third of the radius of the central axis 223. The placement in front of the stasis wheel 722 and the power supply 160 is obstructed by the cleaning assembly 500. As a result, the decrease in size No of the cleaning assembly 500 allowed the placement of the stasis wheel 722 and the power supply 160 further ahead, or a decrease in the total length of the robot 100.

The examples shown in Figures 11B and 11C illustrate the placement of components in the robot 100 to achieve a compact morphology as well as a movement stability. When LD = thickness of flat slope detector 710A, 710B, CH = length from front to back of cleaning head 500, WB = wheelbase, RD = length from front to back of slope sensor inclined 710C, 710D, WT = wheelbase, and CR = circular radius (> Distance between wheels), the tombstone-shaped robot 100 has a length that is: 1) greater than LD + CH + wB + CR and 2) Equal to or less than 1, 4 CR, where 3) RD <A CR, WB> 1/3 CR, CG is inside WB. The placement of the components to satisfy the above relationship places the center of gravity 105 of the robot in front of the driving wheels 410, 420 and within the circular radius CR. The figures also illustrate the placement of two of the heaviest components, which include the power supply 160 having a center of gravity 165 and the brush motor 515 having a center of gravity 517. The brush motor 515 is placed as as far as possible to locate its center of gravity 517 as far as possible, in order to compensate for the weight of the power supply 160. Similarly, the power supply 160 is positioned as far as possible to also position its center of gravity 165 as far as possible. However, the placement in front of the power supply 160 is generally obstructed by the cleaning assembly 500 and the garbage compartment 610.

Referring to Figures 1, 5 and 9, the proximity sensor 730 can be used to determine the moment when an obstacle is near or close to the robot 100. The proximity sensor 730 can be, for example, a light infrared or an ultrasonic sensor that provides a signal when an object is within a given range of the robot 100. In the examples shown, the proximity sensor 730 is arranged on one side (for example, the right side) of the robot 100 to detect the moment when an object, such as a wall, is next to that side.

In a preferred application, as shown, the side of the robot 100 having the proximity sensor 730 is the dominant side of the robot 100, which in this case is the right side with respect to a main direction of travel 105. In some examples , the wall proximity sensor 730 is an infrared light sensor composed of a collimated emitter and detector pair so that a finite volume of intersection occurs in the expected position of a wall. This focus point is approximately three inches ahead of the drive wheels 410, 420 in the direction of forward movement of the robot. The radial range of wall detection is approximately 0.75 inches. Proximity sensor 730 can be used to execute wall tracking behaviors, the examples of which are described in US 6,809,490.

In some applications, the proximity sensor 730 includes a transmitter and a detector arranged substantially parallel. The emitter has a projected emission field substantially parallel to a detector detection field. Proximity sensor 730 provides a signal to controller 450, which determines a distance to a detected object (for example, a wall). The proximity sensor 730 needs to be calibrated to detect and allow the controller 450 to accurately determine a distance from the object. To calibrate the proximity sensor 730 to the albedo (for example, color or reflectivity) of an adjacent object, the robot 100 collides with the object on its dominant side and registers a reflection characteristic. In the example of an infrared emitter and detector, the controller 450 registers a reflection intensity at the time of contact with the object, which is supposed to be a wall. Based on the intensity of reflection recorded in the known calibration distance between the edge of the body 300 and the proximity sensor 730, the controller 450 can then determine a distance to the wall as it travels along the wall . The controller 450 can apply servo control on the drive motors 412, 422 to travel a certain distance from the wall, and therefore follow the wall. The robot 100 may rotate periodically towards the wall to collide laterally against the wall and recalibrate the proximity sensor 730. If the proximity sensor 730 detects an absence of the wall, the robot 100 may decide to recalibrate the sensor of proximity 730 when recognizing the wall again.

The robot 100 can actively follow the wall on its dominant side using the proximity sensor 730. The robot 100 can passively follow the wall on its non-dominant side (or on the dominant side if the proximity sensor 730 is not present or active) . After colliding with an object (for example, detected by the sensor

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anti-shock 800), the robot 100 may assume that the object is a wall and rotate to follow the wall. The robot 100 can return before turning, so as not to trap a front corner of the body 300 in the object / wall, thus reactivating the shock sensor 800 in a forward direction. After turning (for example, approximately 90 °), the robot 100 travels straight (for example, along the wall) and turns slightly towards the wall, to slide along the wall. The robot 100 can detect that it is sliding along the wall by detecting a lateral collision through the multi-directional anti-shock sensor 800, which will be described below. The robot 100 can continue to passively follow the wall until the anti-shock sensor 800 no longer detects a side collision on the side that follows the current wall of the robot 100 for a certain period of time.

The robot 100 can passively follow the wall due in part to its flat sides of the body 300 and to the rear placement of the drive wheels 410, 420. The flat sides allow the robot 100 to slide along the wall (for example, substantially parallel to the wall). The placement of the drive wheels 410, 420 on the back 220 of the chassis 200 allows the robot 100 to swing its front part 210 of the chassis 200 toward the wall, to slide along the wall. Referring to Figure 12A, the robot 100 moves forward while, being in contact with a wall 30, it is subjected to two forces, a force perpendicular to the wall, Fn, and a tangential force to the wall, Ft. forces create opposite pairs around a point halfway between the wheels, the robot's natural center of rotation. It can be shown that the pair, t, is:

t = rF (cos0sen0 - pseno20

Where p is the coefficient of friction between the wall and the robot. Given a value for p, there is some quantum angle 0c, where the pairs are balanced. For 0 <0c the first term to the right of the equation is larger and the robot tends to align with the wall. If 0> 0c, then the second term is larger and the robot 100 tends to turn towards the wall.

Certain robot geometries, such as the tombstone shape of the described robot, can reach useful values for 0c. Keep in mind that the standard cylindrical geometry has 0c = n / 2 regardless of the approach angle of the robot to the wall. Therefore, passive wall tracking cannot be achieved with this configuration. To passively follow the wall successfully, the displacement between the robot's natural rotation axis and the point of contact with the wall must be as far as possible when the robot's movement is aligned with the wall. In addition, the maximum step height of the wall that allows passive recovery is an important factor and is affected by the robot form.

In some examples, the robot 100 can semi-passively follow the wall. The robot 100 follows the wall on its dominant side, which has the lateral proximity sensor 730. After detecting an object, which is supposed to be a wall, either by means of the anti-shock sensor 800 or the proximity sensor 730, the robot 100 rotates to align the dominant side of the robot 100 with the intended wall. The robot 100 then proceeds to move along the wall, while turning slightly towards the wall in order to slide along the wall. Robot 160 is kept in contact with the wall by detecting contact with the wall through the anti-shock sensor 800 or the proximity sensor 730 and the controller 450 applies servo control or the drive motors 412, 422 to move accordingly wall length

In some examples, as shown in Figure 12B, the robot 100 includes a contact element 180 (for example, a roller, a bearing, a bushing, or a soft contact point) disposed in one or both of the front corners of the robot 100 to help in tracking the wall. Preferably, the contact element 180 is at least arranged in the front corner of the dominant side of the robot 100. As the robot 100 moves along the wall, it contacts the contact element 180, instead of simply sliding along the wall. In some applications, the contact element 180 is a side brush that looks along a vertical axis and extends beyond the body 300. The side brush maintains an intermediate space between a wall and the robot body 300.

The anti-shock sensor 800 is used to determine the moment at which the robot 100 physically finds an object. Such sensors may use a physical property such as a capacitance or a physical displacement within the robot 100 to determine the moment at which an obstacle is encountered. In some applications, the anti-shock sensor 800 includes contact sensors arranged around the periphery of the body 300. In preferred applications, the anti-shock sensor 800 is configured to detect movement of the body 300 on the chassis 200. With reference to Figures 5, 10 and 13A-13D, the body 300 of the robot 100 functions as a bumper and is flexibly coupled to the chassis 200 by one or more elastic elements 309 (for example, springs, flexible pins, elastomeric pins, etc.) (see figure 5). The elastic elements 309 allow the bumper style body 300 to move in at least two directions (preferably three directions). In some examples, the anti-shock sensor 800 includes an anti-shock sensor base 810 that carries at least three (preferably four) detectors 820 (eg, infrared light detectors, such as photodetectors) evenly spaced on the anti-shock sensor base 810. In the example shown, the anti-shock sensor base 810 is a printed circuit board that carries the detectors 820. The printed circuit board - anti-shock sensor base 810 is in communication with and can carry the controller 450. The sensor

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Anti-shock 800 includes an anti-shock sensor coating 830 that defines a cavity 832 that is placed on and covers the anti-shock sensor base 810. The anti-shock sensor coating 830 houses an emitter 840 (for example, a light emitter or a light emitter). infrared), which emits a signal 842 (for example, light) through a hole 834 defined by the anti-shock sensor coating 830 through a wall 836 of the cavity 832. The hole 834 collides the signal 842, in order to Have a directed trajectory. As the anti-shock sensor coating 830 moves on the basis of the anti-shock sensor 810, the signal 842 moves over the detectors 820, which provides signals corresponding to the controller 450 (for example, proportional to the signal intensity). Based on the detector signals, the controller 450 is configured to determine the direction of movement of the body 300 on the chassis 200, and optionally the movement speed. The anti-shock sensor 800 can detect 360 degrees of movement of the anti-shock sensor coating 830 on the basis of the anti-shock sensor 810. The drive system 400 and / or the controller 450 are configured to change a direction of travel of the robot 100 in response to the detector signal or signals received from detectors 820.

In the example shown in Figures 13A and 13C, the anti-shock sensor 800 includes a bumper crane 850 that grinds the body 300 along two directions of movement. As noted above, the body 300 is coupled to the chassis by elastic elements 309 that allow the body 300 to be displaced both by translation and rotation. The bumper crane 850 may be configured as a "T", in the form of a cross or as a perpendicular groove or grooves 852 formed in an element that moves with the bumper 300 (with respect to the chassis 300), coupled to at least one crane pin 854 in chassis 200 that does not move (with respect to chassis 200). In other applications, the bumper crane 850 is defined in a part of the chassis 200 and the crane pin 854 is secured to the bumper body 300. When the bumper 300 moves, the bumper crane 850 tends to guide the bumper 300 in that area along an arm of the bumper crane 850, which allows "to move" crashes as is and tends to reduce rotational components or transform the rotation into translation, improving the detection of the anti-shock sensor 800.

In the examples shown in Figures 5, 10 and 13D, the anti-shock sensor 800 includes a bumper connector arm 850 secured between the anti-shock sensor liner 830 and the bumper style body 300. The bumper connector arm 850 transfers movement from the body 300 to the anti-shock sensor coating 830. The anti-shock sensor coating 830 is secured to the anti-shock sensor base 710 and is composed of an elastic material so that the anti-shock sensor coating 830 can be moved by elastic deformation with respect to the anti-shock sensor base 810. In other examples, the anti-shock sensor coating 830 is placed on the anti-shock sensor base 710 and is allowed to move freely with respect to the anti-shock sensor base 810.

The robot 100 has a forward direction and carries the omnidirectional receiver 900 in an upper part 305 of the body 300 above the front part 202 of the chassis 200. Figure 1 illustrates an example of the position of the omnidirectional receiver 900 in the robot 100, being the highest part of the robot 100. The omnidirectional receiver 900 can be used to detect the moment when the robot 100 is very close to a navigation beacon (not shown). For example, the omnidirectional receiver 900 can transmit a signal to a control system that indicates the strength of an emission, where a stronger signal indicates greater proximity to a navigation beacon.

Figures 14 to 16 show perspective, side and sectional views of the omnidirectional receiver 900. The omnidirectional receiver 900 includes a housing 910, a conical reflector 920 and an emission receiver 930. The housing 910 has an upper part 912 and a cavity inner 916. The upper part 912 may allow a transmission of an emission to the inner cavity 916. The conical reflector 920 is located on an upper surface of the cavity 916 to reflect emissions that impact the upper part 912 of the housing 910 towards the cavity interior 916. The emission receiver 930 is located in the internal cavity 916 below the conical reflector 920. In some applications, the omnidirectional receiver 900 is configured to receive infrared (IR) light transmissions. In such cases, a gate 940 (for example, a light tube) can guide emissions reflected in the conical reflector 920 and channel them to the emission receiver 930.

The controller 450 may be configured to propel the robot 100 according to a heading setting and a speed setting. The signals received from the navigation sensor system 700 can be used by a control system to issue commands that have to do with obstacles, such as changing the speed or heading of the robot 100. For example, a signal from the sensor of proximity 730, due to a nearby wall may result in the control system issuing an order to reduce speed. In another example, a collision signal from the crash sensor 800 due to an encounter with an obstacle can cause the control system to issue an order to change course. In other cases, the speed setting of the robot 100 can be reduced in response to the contact sensor and / or the heading setting of the robot 100 can be changed in response to the proximity sensor 730.

The controller 450 may include a first independent behavior routine configured to adjust the speed setting of the robot 100; and a second independent behavior routine configured to change the course configuration of the robot 100, in which the independent behavior routines first and

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Second, they are configured to run at the same time and in a separate way. The first independent behavior routine may be configured to probe the proximity sensor 730, and the second independent behavior routine may be configured to probe the anti-shock sensor 800. Although the robot applications 100 described in this document may use based control, only partly or without relying on the behavior, the behavior-based control is effective to control the robot so that it is solid (that is, so that it does not get stuck or so that it does not fail), as well as safe .

Figures 17 to 25 illustrate another application of the autonomous covering robot 101. The robot 101 includes a chassis 200 having a front part 210 and a rear part 220, and a body 300 having a front part 301 and a rear part 303 configured. to substantially follow the contours of the chassis 200. The front part 210 of the chassis 200 defines a substantially rectangular shape and the rear part 220 defines an elliptical shape. The front part 301 of the body 300 may be flexibly connected to the chassis 200. A handle 330 is arranged in, or defined by, an upper part 305 of the rear part 303 of the body 300.

In an exemplary configuration, the design of the robot 101 has a diameter of about 15 cm, a height of

around 7.5 cm, and it works with bat energy to clean for approximately six hours before needing recharging. Also, for example, the robot 101 can effectively clean the floor of a medium-sized single room in about 45 minutes, or several smaller areas.

Referring to Figures 18, 20 and 21, the robot 101 includes a drive system 400 carried by the chassis 200, as described above. In the application shown, the drive motors 412, 422 are arranged adjacently and in line (for example, coaxially) with their respective drive wheels 410 and 420. In

some examples, the robot includes a gearbox 414, 424 coupled between the drive wheel 410, 420 and its

respective drive motor 412, 422. The robot 101 includes a controller 450 in communication with the drive system 400. The controller 450 is configured to maneuver the robot 101 so that it pivots on itself.

Robot 101 includes a cleaning assembly 500 mounted on the front 210 of the chassis 200, and includes a first front roller brush 510 rotatably mounted substantially close to and substantially parallel to the leading edge 202 of the chassis 200. The cleaning assembly 500 includes second and third side roller brushes 550, 560 rotatably mounted perpendicularly to the front roller brush 510 substantially close to the corresponding right and left side edges 306, 308 of the body 300. Roller brushes 510, 550, 560 they are driven by a cleaning motor 530 coupled to the roller brushes 510, 550, 560 by a gearbox 532. The cleaning motor 530 is positioned behind the front roller brush 510 and between the side roller brushes 550, 560

Robot 101, in a preferred application, includes a single type of cleaning mechanism. For example, the robot 101 shown in Figure 18 includes bristle brush rollers for the front roller brush 510 and the side roller brushes 550, 560. The bristle brush rollers may be similar to the brush rollers found in the SCOOBA® robot marketed, for example, by iRobot Corporation; or they can be similar to the types of R2 or R3 brush used in the Roomba® robot, as additional examples. In one application, the brush does not pick up long hairs or fibers that tend to wrap tightly around the brush, in order to minimize the frequency of maintenance required by the user for the removal of brush residue. Alternatively, the robot 101 may include two or more varieties of cleaning mechanism, such as aspiration and bristle brushes, among others.

In some of the examples, the front roller brush 510 and the side roller brushes 550, 560 each rotate about a horizontal axis parallel to the work surface, thus providing a horizontal cleaning assembly 500, although the main width of The work of the covering robot 100 may include vertically rotating brushes, without brushes if there is a vacuum cleaner, an oscillating brush, a circulating belt element, and other known cleaning applications. Each roller brush 510, 520, 550, 560 can have a cylindrical body that defines a longitudinal axis of rotation. The bristles are radially fixed to the cylindrical body, and, in some examples, flexible fins are fixed longitudinally along the cylindrical body. As the roller brush 510, 520, 550, 560 rotates, the bristles and flexible fins move debris over the work surface, directing them to the garbage compartment 610 in the robot 100. In examples that include a suction unit , brushes 510, 520, 550, 560 can also direct debris or dirt towards an aspiration path below the cleaning robot 100. In the case of a wet cleaning robot, brushes 510, 520, 550, 560 can have a brushing function in place, and a vacuum cleaner or other collector can collect fluid residue after brushing.

In the examples shown, the effective components of the cleaning assembly 500, such as brushes 510, 550, 560, are disposed towards the extreme front corners of the front part 210 of the chassis 200. As a result, the area of the floor that It can cover the rectangular front part 210 of the chassis 200 is maximized, and parts of the ground that are not covered are minimized, as illustrated in Figure 27.

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By only including a single cleaning mechanism, such as cleaning assembly 500, instead of a combination of two or more varieties of cleaning mechanism (such as, for example, a roller brush and a vacuum cleaner; or cleaning mechanisms in wet and dry, which may require two or more storage chambers, among others), the robot 101 can be made more compact with respect to another form.

Referring to figures 18, 20, 21 and 24, the robot 101 includes a garbage compartment assembly 600, as described above. In the examples shown, the chassis 200 defines the waste chamber or garbage compartment 610, which is placed between the cleaning assembly 500 and the drive system 400. In specific examples, the garbage compartment 610 is in front of the wheels drives 410, 420 and behind the front roller brush 510. As the front roller brush 510 and the side roller brushes 550, 560 rotate against the ground, they stir debris and sweep the debris into a chamber of waste / trash compartment 610 inside the robot 101 through an intake groove or other suitable opening that goes from roller brushes 510, 550, 560 to the waste chamber 610.

The garbage compartment cover 620, in the example shown, is releasably connected to the chassis 200 by one or more hinges 622 (for example, an integral hinge, a spike and a plug, etc.). In some applications, the release of the garbage compartment cover 630 can be operated from substantially near or in the handle 330, which allows the operation of the garbage compartment cover release 630 while holding the handle 330. In others applications, the release of the garbage compartment cover 630 can be operated from near or in the garbage compartment cover 620, such that a user holds the handle 330 with one hand and opens the garbage compartment cover 620 by releasing the garbage compartment cover 630 with the other hand (see figure 24). In some applications, compartment cover release 630 is a spring-loaded latch or closure button that can be selected by pressing down (for example, a button) or by pulling up (for example, an activator).

In the examples shown, the robot 101 includes a handle 330 arranged in or defined by an upper part 305 of the body 300. A user can grab the handle 330 to lift the robot 101 and transport it manually. In addition, the robot 101 can include one or more buttons 632 near the handle 330. The button 632 can be operated with one hand, while the user's hand grabs the robot 101 by the handle 330. The button 632 is configured to trigger a release. of garbage compartment cover 630, which can function to control the maintenance of the garbage compartment cover 620 in its closed position and release the garbage compartment cover 620 so that it moves to its open position. In one example, as illustrated in Figure 24, when the user presses button 632, the release of garbage compartment cover 630 is disengaged and garbage compartment cover 620 oscillates to open around hinges 622. With the Garbage compartment cover 620 in its open position, the contents of the waste chamber / garbage compartment 610 may leave the robot 101 due to the force of gravity. The robot 101 may also include a spring to ensure that the garbage compartment cover 620 is opened, for example, in case the weight of the waste in the waste chamber 610 is insufficient to swing the garbage compartment cover 620 to open.

The robot 101 includes a power supply 160 (for example, a battery) in communication with the drive system 400 and / or the controller 450, and detachably secured to the chassis 200. In the examples shown in Figures 20 and 21 , the power supply 160 is received by a power receptacle 260 defined by the back 220 of the chassis 200. A power supply cover 262 is releasably secured to the chassis 200 to hold and / or cover the power supply 160 in the power receptacle 260. In the examples shown, the power supply 160 is positioned at the rear 220 of the chassis 200, behind the driving wheels 410, 420. In this position, the weight of the power supply 160 compensates the weight of the cleaning assembly 500 to place a center of gravity of the robot 101 substantially around a center of the chassis 200.

The compact dimensions of the robot 101 allow the robot 101 to navigate beneath possible obstacles, such as chairs, tables, sofas, or other objects in the house, and perform floor cleaning in these hard-to-reach areas. In addition, the robot 101 may include a separation sensor disposed on an upper surface thereof, such as a sonar telemeter or a light-sensitive diode, which scans directly above the head. When the separation sensor detects the presence of an object within a threshold distance, such as, for example, two feet, the robot 101 can continue moving until the space above the head is free. Consequently, the robot 101 can avoid getting "lost" under the furniture, for example, out of the user's view.

As the drive system 400 drives the robot 101 on the ground, the front roller brush 510 preferably rotates in the same direction as the drive wheels 410, 420, although at a faster rate than the speed of the robot 101 when it crosses the floor, to sweep waste into the waste chamber 610. In addition, the side brushes 550, 560 also sweep waste inwards at the same time. In one example, the bristles of brushes 510, 550, 560 can extend down approximately 0.015 to 0.025 inches beyond the extension of the wheels 410, 420, while rotating at a speed of between about 600 and about 1,600 RPM.

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The design of the robot 101 can be made more compact by omitting an adjustable wheel or other support structure. Due to the width of the front brush roller 510, as well as the side brushes 550, 560 arranged on opposite side faces of the robot 101, the robot 101 can omit a third steerable wheel or freewheel, apart from the drive wheels 410, 420 without significantly affecting the balance or stability of the robot 101. Alternatively, the robot 101 may also include support bearings 490, as shown in Figures 18, 20 and 22 to 25, arranged close to the opposite opposite corners of the front part 210 of the chassis 200. The support bearings 490 may include a single nidged element of a soft and / or self-lubricating material, such as polytetrafluoroethylene or a polyoxymethylene polymer; or, the support bearings 490 may include a roller bearing or any other suitable mechanism to prevent the robot 101 from tilting or losing balance while providing little friction resistance as the robot 101 crosses the ground.

Referring to Figure 21, the robot 101 includes a navigation sensor system 700 in communication with the controller 450 that allows the robot 101 to be aware of its environment / environment and react in intended ways or behave according to the perceptions detected. of its environment / environment. In the example shown, the navigation sensor system 700 includes one or more anti-shock sensors 800 and / or a stasis detector 720. With the use of inputs from the navigation sensor system 700, the controller 450 generates orders to be performed by the robot 101. As a result, the robot 101 is capable of cleaning surfaces autonomously.

The anti-shock sensor 800 is used to determine the moment at which the robot 100 physically finds an object. Such sensors may use a physical property such as a capacitance or a physical displacement within the robot 100 to determine the moment at which an obstacle is encountered. In the example shown in Figure 21, the anti-shock sensor 800 is a contact switch disposed around the periphery of the front part 210 of the chassis 200, between the chassis 200 and the front part 301 of the body 300. The front part 301 of the body 300 is flexibly or slidably fixed to the chassis 200 in a way that allows contact with an obstacle to be transferred to the shock sensor or sensors 800. In preferred applications, the robot includes 800 shock sensors arranged in the front corners of the chassis 200 , with at least one anti-shock sensor 800 arranged on each side of each corner, thus allowing the robot 100 to determine a direction and / or a location of a collision. The front part 301 of the body 300 acts as a single mechanical bumper with sensors 800 substantially at the two ends of the bumper to detect the movement of the bumper. When the front part 301 of the body 300 is compressed, the timing between sensor events is used to calculate the approximate angle at which the robot 101 contacts the obstacle. When the front part 301 of the body 300 is compressed from the right side, the right anti-shock sensor detects the first shock, followed by the left anti-shock sensor, due to the compatibility of the bumper and the geometry of the anti-shock detector. In this way, the angle of shock can be approximated with only two shock sensors.

Since the robot 101 preferably has a compact and lightweight shape, the impulse made by the robot 101 may be lighter than that of a standard size robot. Accordingly, the robot 101 preferably includes "soft touch" or contactless shock sensors. For example, the robot 101 may include one or more accelerometers 458 in communication with the controller 450 (see Figure 21) to monitor the acceleration of the robot along at least one horizontal axis. When it is detected that the acceleration exceeds a preset threshold, the robot 101 can respond as if a bumper switch had been activated. As a result, the robot 101 may omit a traditional contact switch type anti-shock sensor.

In some examples, the robot 101 may use the accelerometer 458 as a stasis detector 720. As a benefit, the processing of accelerometer data for stasis detection may require only a processing rate of approximately 30 hertz. For example, as the robot 101 moves on a floor, the vibrations cause the accelerometer 458 to detect the acceleration of a given amplitude profile. However, when the robot 101 stops moving, either due to a normal state or to which it has been blocked by an obstacle, the amplitude of the vibrations detected by the accelerometer 458 decreases accordingly. Therefore, the robot 101 can respond to such a decrease in acceleration according, for example, with a stasis-escape behavior. By monitoring a single accelerometer 458 for purposes of shock detection and / or stasis detection, the robot 101 may omit shock switches and / or other stasis detection hardware, thus possibly requiring less space on board the robot 101.

Referring to figures 26 to 28, the robot 100, 101 can navigate on floor surfaces, such as tiles, wood or carpeted floors, while collecting waste from the floor and introducing them into the waste chamber / garbage compartment 610. When the robot 100, 101 navigates to a corner, the front roller brush 510 and the end brushes 540 or the side roller brushes 550, 560, respectively, can effectively clean an area that is at the same level as the sides of the corner . Instead, a robot with a rounded contour 10, as illustrated in Figure 28, can approach a corner 9220 although it cannot be moved to the same level as the walls 9241, 9242 that intersect at corner 9220. As a result of the robot with a rounded contour 10 cannot effectively clean the cradle-shaped area 9290 that borders corner 9290. As illustrated in Figure 26, the robot 100, 101 can navigate along a straight path while remaining at the same time substantially at the same level as a wall edge 9210, in which a wall 9421 intersects the floor 9250. The robot 100, 101 preferably includes one or more sensors

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shock absorber 800, 1800 arranged or active within the front part 210 of the chassis 200; and as the robot 100, 101 touches the wall 9241, the robot 100, 101 can adjust its course in order to move, for example, substantially parallel to the wall 9241.

The operation of the robot 101 is preferably controlled by a microcontroller 450, such as a FREESCALE® QG8 or other microcontroller suitable for receiving an input from the sensors of the robot and driving the motors or other output devices of the robot 101. As illustrated in Figures 29 to 32, for example, the microcontroller 450 receives the input from the anti-shock sensor 800 and sends control signals to the drive motors 412, 422 coupled to the right and left drive wheels 410, 420. Alternatively, a microprocessor or other control circuit system. Robot 101 can execute behavior-based control software; or it can work, among other things, according to simple control loops of a single thread.

The rectangular contour of the front part 210 of the chassis 200 can cause the corners thereof to collide with obstacles that may not be detected by the anti-shock sensors or the uneven sensors, unlike rounded contour robots that can rotate freely without that At risk, the robot 101 responds preferentially to shocks detected while turning on itself, stopping the rotation and going backwards directly. As a result, it may be less likely that the robot 101 will remain fully engaged or stuck, despite the square corners of the front part 210 of the chassis 200. Alternatively, the robot 101 may behave according to the control software that in general it is similar to the ROOMBA® or SCOOBA® robots, as examples.

According to another example, the robot 100, 101 can automatically return to a stand or base station for storage after completing a cleaning cycle. The robot 100, 101 may also include an electrical interface to recharge the on-board bats. In addition, the support or base station may include a receptacle placed below an "initial" position of the robot 100, 101. When the robot 100, 101 is interconnected to the support and stops at the initial position, the robot 100, 101 may Automatically activate the release of the garbage compartment cover 630 and evacuate the waste from the waste chamber 610 in the support receptacle located below the robot 100, 101.

In robot applications using the omnidirectional receiver 900, the base station may include an omnidirectional beam emitter and two navigation field emitters. The robot 100 can maneuver towards the base station by detecting and advancing along one of the lateral field edges of the overlapping fields aligned with a coupling direction until it engages in the base station. The robot 100 can detect the emissions from the base station with the omnidirectional receiver 900 and maneuver to detect an outer lateral field edge of at least one field emission. The robot 100 can then advance along the outer side field edge to the aligned side field edge of the overlapping fields. Upon detecting the aligned side field edge, the robot 100 advances along the aligned side field edge until it engages in the base station.

Figure 33 is a block diagram showing a behavior software architecture within controller 450. The behavior software architecture includes goal-oriented behaviors. Robot 100, 101 employs a software and control architecture that has a series of behaviors that are executed by a mediator 1005 on controller 450. Mediator 1005 executes orders on motor actuators 1010 in communication with each drive motor 412, 422 A behavior is introduced in the mediator 1005 in response to a sensor event. In one application, all behaviors have a fixed relative priority over another. Mediator 1005 (in this case) recognizes enabling conditions, such behaviors having a complete set of enabling conditions, and selects the behavior that has the highest priority among those who have fulfilled the enabling conditions. The diagram shown in Figure 33 does not necessarily reflect the hierarchy of priority (fixed) of the robot 100, 101. In decreasing order of priority, the behaviors are generally classified as escape and / or evasion behaviors (such as avoiding unevenness or escape of a corner) and work behaviors (for example, following the wall, bouncing or driving in a straight line). The movement of the robot 100, 101, if there is one, occurs while a behavior is moderated. If there is more than one behavior in the mediator 1005, the behavior is executed with a higher priority, as long as the corresponding required conditions are met. For example, a 1400 drop evasion behavior will not be executed unless a drop detection sensor has detected a drop, although the execution of the 1400 drop evasion behavior always has priority over the execution of other behaviors that have also met enabling conditions.

The reactive behaviors have, as enabling conditions or activators thereof, several sensors and detections of phenomena, although, in general, no (arbitrary) states of a sequence. As shown in Figure 33, these include sensors for evasion and obstacle detection, such as uneven sensors 710, a stasis sensor 720, a lateral proximity sensor 730, an anti-shock sensor 800, and / or an omnidirectional receiver 900 (for example, for the detection of a virtual wall signal (which can instead be considered as a covering activator)). Sensors of this type are monitored and conditioned.

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by filters, conditioning, and their actuators, which can generate the enabling conditions, as well as registration data that help the behavior to act in a predictable manner and in all the available information (for example, conversion to “true / false” signals of a bit that records the angle of probability of impact or incidence based on time differences or the strength of a group of sensors, or historical information, average, frequency, or variance information).

Actual physical sensors can be represented in the architecture using “virtual” sensors synthesized from the conditioning and actuators. Other "virtual" sensors are synthesized from physical properties detectable or interpreted, proprioceptive or interpreted on the robot 100, 101 such as overcurrent of an engine condition, stasis or jamming of the robot 100, 101, state of battery charge through of coulometna, and other virtual sensors "virtual N".

In some applications, the robot 100 includes the following behaviors listed in order of priority from highest to lowest: 1) User Interface Group 1100, 2) Factory Test Group 1200, 3) Shock Tracking Group March 1300, 4) 1400 Elevation Evasion Group, 5) 1500 Rear Bounce, 6) 1600 Shock Tracking Group, 7) 1700 Bounce, and 8) 1800 Displacement. A behavior group refers to a set of behaviors that work together to Apply a global behavior. For example, the "User Interface Group" behavior is a set of three behaviors that manipulate the user interface while the robot is at rest.

The robot may include a user interface 370, which is a single cleaning / power button in the examples shown in Figures 1 and 17, to allow a user to interact with the robot 100. The following sub-behaviors of the interface group behavior of user 1100, with priority from highest to lowest, execute the user interface 370 applied as a single cleaning / power button: 1) Inactive User 1110, 2) User Starts 1120, and 3) User does nothing 1130. The following Behavioral subgroups of Factory Test Group 1200, with priority from highest to lowest, apply a factory test mode for quality control purposes: 1) Complete factory tests 1210, 2) Factory tests Advance 1220, and 3 ) Factory Test 1230.

The following subbehaviors, which are given priority from highest to lowest, apply the behavior of Shock Tracking Escape March 1300: 1) Swing of Shock Tracking Escape March 1310, 2) Run Shock Tracking Turn Back 1320, and 3) Crash Tracking Arch Reverse 1330. Due to the rectangular shape of the front part 210 of the chassis 200, it is possible that the robot 100 moves to a space too narrow to rotate in it (for example , a parking space). These areas of confinement are known as canons. The term "canon" refers generically to any source of narrow confinement. If a slope similarly restricts the robot 100 to a narrow space, this is known as an iron. Since the strategy to escape these obstacles of confinement is the same, the data of the directional slope sensor and the anti-shock sensor are added to a set of four "directional confinement" sensors, which are the basis for the description that comes to continuation. The four sensors are front-left, front-right, rear-left and rear-right. The direction of a rearward crash tracking is clockwise if the behavior of the Shock Tracking Arc Reversing 1330 drives the robot 100 backwards while turning clockwise. The direction of a backward shock tracking is counterclockwise if the behavior of the Shock Tracking Arc Reverse 1330 drives the robot 100 backwards while turning counterclockwise.

The Crash Tracking Exhaust Oscillation behavior Back 1310 causes the robot 100 to rotate on itself with sufficient angular advance to deduce the presence of a canon. The activation condition for the Shock Tracking Exhaust Swing Behavior Behind 1310 is evaluated at the end of the Shock Tracking Spin Behavior Behind 1320. After the Shock Tracking Escape Swing behavior is armed. Back 1310, this is executed once and then deactivated until it is armed again by the behavior of Crash Tracking Turn Back 1320. At the beginning of the Crash Tracking Escape Swing behavior Back 1310, an angle is established escape at a random number between 120 and 160 degrees. The robot 100 then rotates on itself in the direction opposite to the direction of the crash tracking backwards until it obtains the escape angle. If no subsequent directional confinement source appears while turning on itself, the robot 100 moves forward to avoid them. If a source of front directional confinement is found, the rotation on itself is suspended. After completing the turn on itself, the success of the escape is determined in the following order. First, the turn on itself was suspended due to the detection of a source of front confinement, the angular advance of the turn on itself is compared with a minimum escape angle that is calculated by generating a random number between 80 and 120 degrees. If the angular advance does not exceed this amount, perform a similar maneuver for the Reverse Shock Tracking Turn behavior 1320. This is done to return the robot 100 back to an orientation conducive to continuing the rearward shock tracking. Secondly, if the turn on itself was suspended due to the detection of a source of front confinement, and the angular advance exceeded the minimum exhaust angle calculated above, although less than the escape angle calculated at the beginning of the

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behavior, the following is done. The reverse tracking shock activation is canceled, and forward shock tracking is activated if the source of confinement that stopped the turn was a crash. This improves the chances that the robot 100 will find its way out of a narrow site without detecting a new canon and reactivating the backward crash tracking. Thirdly, if the turn on itself is completed because it has achieved the calculated escape angle at the beginning of the behavior, the backward shock tracking activation is canceled.

The Crash Tracking Turn behavior Behind 1320 attempts to orient the robot 100 with respect to an obstacle so that it can move forward while reshaping an arc towards the obstacle. Simply turning on itself, as a circular robot does, is not enough for the robot 100 since the rectangular front part 210 of the chassis 200, at some point, collides with the obstacle and prevents the robot 100 from continuing to turn on itself. To avoid this problem, the robot 100, instead follows a narrow arc to maintain a space from the obstacle. The Behavior of the Crash Tracking Turn March 1320 that begins after the return along an arc that is performed in the behavior of the Shock Tracking Arc March 1330, ends as a result of the activation of the rear bumper. The first task of the Behavior of Crash Tracking Turn Back 1320 is to release the bumper 300 from the rear hit. This is done by driving the robot 100 forward until the bumper 300 is released. While this is being done, front confinement sources are manipulated as follows. A left front confinement source causes the robot 100 to rotate clockwise. A source of right front confinement causes the robot 100 to rotate counterclockwise. After the bumper 300 is released, the robot 100 calculates a restricted random arc radius and the angular advance that must be followed in the forward direction in order to reorient the robot 100 for the next repetition of the Tracking Arc behavior of Shock March 1330. Robot 100 travels along this arc until it achieves the calculated angular advance. While this is being done, the robot 100 responds to the front confinement sensor 710, 730, 800 (for example, slope sensor 710, proximity sensor 730 and / or shock sensor 800) on the opposite side of the robot 100 with respect to the obstacle What is he following? When this is detected, the robot 100 rotates on itself in the same direction of rotation as the arc it is following. The Behavior of the Crash Tracking Turn Back 1320 ends when the calculated angular advance is achieved or the front confinement sensor 710, 730, 800 is activated on the same side of the robot 100 as the obstacle it is following. At the end of the behavior, a random number generator is used to decide whether or not to activate a Crash Tracking Escape Oscillation behavior Back 1310. As a minimum, the probability of activating the Tracking Escape Oscillation behavior of Shock March 1310 will be approximately 20%. If the angular advance of the 1320 Crash Track Tracking Turn behavior is between approximately 2 and approximately 5 degrees, the probability will increase to approximately 50%. If the angular advance is less than 2 degrees, the probability is approximately 100%.

The behavior of the Shock Follow Up Arc 1330 tries to move forward while maintaining an obstacle near one side of the robot 100, moving backwards in an arc that begins with little pronouncing and becomes increasingly sharp as time goes by in behavior The Reverse Shock Tracking Arc Behavior 1330 is executed when the robot 100 is in the 1300, 1320 backward crash tracking mode and none of the other crash tracking behaviors have been activated 1310, 1320. While moving through the arc, the robot 100 will respond to the front confinement sensor 710, 730, 800 (for example, slope sensor 710, proximity sensor 730, and / or shock sensor 800) on the opposite side of the robot 100 with respect to the obstacle. He does this by turning on himself in the direction of rotation opposite the arc he is following. The behavior of the Shock Follow Up Arc 1330 ends when a rear confinement sensor 710, 800 is activated (for example, 710 slope sensor and / or 800 shock sensor) or the arc has made more than 120 degrees of angular advance .

The behavior of the 1400 Elevation Evasion Group is a set of escape behaviors that include the following sub-behaviors, with priority from highest to lowest: 1) Rear of the 1410 Elevation Evasion, and 2) 1420 Elevation Evasion. Figure 4, in preferred applications, the robot 100 has four slope sensors 710 placed at the front right, left front, rear right and rear left ends of the robot 100. The right front and front left slope sensors 710A, 710b detect the moment in which the respective front corners of the robot 100 move on a slope. Since the drive system 400 is positioned behind the cleaning assembly 500, which is located near the leading edge, the robot 100 can return before an appreciable amount of the robot 100 moves over the uneven edge. The right rear and left rear slope sensors 710C, 710D are positioned directly behind the respective right and left drive wheels 410, 420. As a result, the right rear and left rear slope sensors 710C, 710d detect the moment at the one that a rear part of the robot 100 moves on an uneven edge before the driving wheels 410, 420 move on the uneven edge, in order to prevent the displacement from moving backwards in the inclination of an unevenness. If the robot 100 would include rear elevation sensors 710 only along a central part of the rear part 220 of the chassis 200, the robot 100 could move backwards angularly and move a driving wheel 410, 420 over an uneven edge before Detect the edge of the slope.

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The Backward Evasion behavior of Slope 1410 is executed whenever the rear slope sensors 710C, 710D are activated. The forward elevation sensors 710A, 710B are also manipulated in this behavior 1410, since they have a higher priority than the Evasion of Elevation 1420. At the beginning of the behavior of Rear Evasion of Elevation 1410, an escape direction is selected in the direction Schedule or counterclockwise. The decision is made in the following order. 1) If the left front slope sensor 710B is activated, set clockwise. 2) If the right front slope sensor 710A is activated, set counterclockwise. 3) If the right rear slope sensor 710C is activated, set clockwise. 4) If the 710D left rear slope sensor is activated, set counterclockwise. After setting the direction, the robot 100 rotates in the specified direction along an arc that is centered on a driving wheel 410, 420. During the movement, the front elevation sensors 710 are monitored and used to change the direction Scroll as follows. If the right front slope sensor 710A is activated, the robot 100 turns on itself counterclockwise. If the left front slope sensor 710B is activated, the robot 100 turns on itself clockwise. Robot 100 continues to move as described above until both rear elevation sensors 710C, 710D are not activated.

The Dropout Evasion behavior 1420 only manipulates the front elevation sensors 710A, 710B of the robot 100 and usually runs when the robot 100 is moving forward. At the beginning of the Evasion of Drop of Elevation 1420, an escape direction is chosen based on which front elevation sensors 710A, 710B have been activated. If only the left front slope sensor 710B is activated, the escape direction is chosen clockwise. If only the right front slope sensor 710A is activated, the exhaust direction is selected counterclockwise. If both front elevation sensors 710A, 710B are activated, the escape direction is selected randomly. An escape angle is chosen randomly between approximately 25 degrees and approximately 50 degrees. The Dropout Evasion behavior 1420 begins by returning straight until both front elevation sensors 710A, 710B are not activated. Next, the robot 100 turns on itself until it reaches the exhaust angle. If any of the front elevation sensors 710A, 710B is reactivated as part of the turn on itself, all the behavior of Evasion of Elevation 1420 is reactivated and therefore re-executed.

The rear bounce behavior 1500 is executed when the bumper 300 is activated from the rear direction. This happens more frequently when the robot 100 moves in reverse to release the front part of the bumper 300 as part of the rebound behavior 1700. The robot 100 moves forward until the bumper 300 is released, and then continues forward other 5 mm in order to reduce the possibility that the turn on itself will not reactivate a subsequent shock. A rotation direction for the turn on itself is decided based on the direction of the original rear bumper hit. If the blow comes from the right rear side of the robot 100, the counterclockwise direction is chosen. If the crash comes from the left rear side of the robot 100, the clockwise direction is chosen. If the shock comes from the central part of the back, the address is chosen randomly. An escape angle is chosen randomly between approximately 10 degrees and approximately 200 degrees. Robot 100 rotates in the chosen direction until it reaches the exhaust angle.

The Shock Tracking Group 1600 includes the following sub-behaviors with priority from highest to lowest: 1. Shock Tracking Wall Alignment 1610, 2. Shock Tracking Arch 1620. Shock tracking is used to escape from dirty areas and clean them It is also used to follow a wall in order to circulate the robot 100 evenly through its floor space.

The Shock Tracking Wall Alignment behavior 1610 is designed to align the side of the robot 100 with an obstacle such as a wall. If the shock tracking direction is clockwise, the objective is to have the left side of the robot against the wall. If the direction is counterclockwise, the objective is to have the right side of the robot against the wall. When shock tracking is enabled, the Shock Tracking Wall Alignment behavior 1610 begins when a frontal crash is activated. The location of the bumper strike is used to decide to what extent the robot 100 must turn on itself before performing another repetition of the Shock Track Arc 1620 behavior. If the bumper 300 is activated on the side of the bumper 300 that does not must be close to the obstacle, the robot 100 sets a turning target on itself between about 25 degrees and about 45 degrees. This larger increase saves time in the alignment process. If the bumper 300 is activated on the side that should be close to the obstacle, the robot 100 rotates on itself in the direction that the bumper 300 swings further towards the obstacle. The purpose of this maneuver is to see if the bumper 300 tends to remain engaged or is released. If released, this suggests that the robot 100 is not yet at a very low angle to the wall, and a rotation target on itself of between about 5 degrees and about 25 degrees is selected. Otherwise, it is likely that the robot 100 is at a slightly steep angle with respect to the wall and a rotation target on itself of between about 1 degree and about 5 degrees is selected. If a rotation target on itself greater than 5 degrees has been selected, the robot 100 returns until the bumper 300 is released. The robot 100 rotates on itself in the direction that the front of the robot 100 swings away from the obstacle. until the target angle is achieved. If the bumper 300 is reactivated during the rotation on itself, the robot 100 returns sufficiently to release it.

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The Shock Tracking Arc behavior is executed when the shock tracking mode 1600 is enabled and the Shock Tracking Wall Alignment 1610 is not activated. The robot 100, at first, moves forward following a shallow arc. in order to move forward. As more time passes, the arc gradually narrows to bring the robot 100 back into contact with the obstacle. This allows the obstacle to be followed closely, which can help the robot 100 find its way around itself. If shock tracking mode 1600 is selected to maneuver through dirt, the robot 100 can continue to form an arc without a bumper strike at a maximum of about 100 degrees of angular advance. At that point, shock tracking 1600 is considered terminated because the robot escapes. If the 1600 crash tracking mode is selected to help circulate the robot 100 through its space, it can continue to form an arc without a bumper strike at a maximum of about 210 degrees to allow rotation in wall corners . At that point, the wall is considered lost and the shock tracking behavior 1600 ends.

The rebound behavior 1700 is executed when the bumper 300 is activated from the front direction. Robot 100 moves backwards until bumper 300 is released. Then continue back another 30 mm in order to reduce the possibility that the turn on itself will not reactivate the bumper 300 from the front. This large additional clearance is required because the rectangular shape of the front part of the bumper 300 creates the possibility that the corner of the bumper 300 oscillates to contact the obstacle when turning on itself. A direction of rotation for the rotation on its own is decided based on the direction of the original frontal blow on the bumper 300. If the blow comes from the right front side of the robot 100, the counterclockwise direction is chosen. If the crash comes from the left front side of the robot 100, the clockwise direction is chosen. If the crash is in the central part of the front, the address is chosen randomly. An escape angle is chosen randomly between approximately 10 degrees and approximately 200 degrees. Robot 100 rotates in the chosen direction until it achieves the escape angle.

The offset behavior 1800 can function when no other behavior is active. Robot 100 moves in a straight line until it experiences an event that triggers another behavior.

Robot 100 maintains simultaneous processes 2000, "parallel" processes that are not generally considered reactive behaviors. As noted, filters and 2400 conditioners and 2500 actuators can interpret and send raw signals. These processes are not considered reactive behaviors, and exert non-direct control over motor actuators or other actuators.

Some parallel processes 2000 are important to facilitate the activation and execution of various behaviors. These processes are software finite state machines that are evaluated at a frequency of, for example, 64 Hertz. The period is known as the processing interval.

In some applications, the robot 100 includes a Canon 2100 Detection process, which helps identify canons. A canon is announced by the supervision of four signals. Each of these signals is evaluated in each processing interval. When the input signal is true, the output signal becomes true. The output signal becomes false after 100 consecutive processing intervals of the input signal being false. The four input signals are evaluated as follows: 1) The left front slope sensor 710B is active and the right front slope sensor 710A is inactive, or the left rear slope sensor 710D is active and the rear slope sensor Right 710C is inactive. 2) The right front slope sensor 710A is active and the left front slope sensor 710B is inactive or the right rear slope sensor 710C is active and the left rear slope sensor 710D is inactive. 3) The bumper 300 is compressed on the left front side of the robot 100. 4) The bumper 300 is compressed on the right front side of the robot 100. The processed versions of these signals are called, respectively, as follows: 1) left-slope-is maintained; 2) uneven-right-maintained; 3) left-shock-remains; and 4) shock-right-is maintained. A canon is detected when left-slope-is maintained or left-shock-is maintained are true while right-slope-is maintained or right-shock is maintained are true. When a canon is detected, the Crash Tracking Group Back 1300 is enabled.

In some applications, the robot 100 includes a Forward Advance 2200 process. In the Forward Advance 2200 process, each processing interval, the forward advance of the robot 100 is added to an accumulator, while a distance amount is subtracted fixed corresponding to 1 millimeter. When this accumulator reaches 100 millimeters, the forward feed is declared as true. The accumulator is not allowed to exceed 200 millimeters. When the forward feed is true for 10 seconds, the 1300 Reverse Shock Tracking Group is allowed to escape from the excessively dirty environment that the robot 100 is going through.

In some applications, the robot 100 includes a 2300 Reverse Shock Tracking Arc Advance process. While the robot 100 is in the 1300 reverse shock tracking mode, the forward movement of each repetition of the Arc behavior Shock Tracking March 1330 is fed to a low pass filter. At the beginning of a reverse shock tracking, this filter is initialized

for 60 miKmeters. When the output falls below 50 miKmeters, the advancing arc is considered deficient. This activates a lever in the rearward direction of shock tracking, that is the side of the robot 100 on which the main obstacle is supposed to be.

Several applications have been described. However, it will be understood that several modifications can be made without departing from the scope of the description. Consequently, other applications are within the scope of the following claims.

Claims (15)

5 10 fifteen twenty 25 30 35 40 Four. Five 1. Autonomous covering robot (100, 101) comprising: a chassis (200) having front and rear parts (210, 220), the front part (210) defining a substantially rectangular shape and the rear part (220) defining an arched shape; a drive system (400) carried by the chassis configured to maneuver the robot (100, 101) on a cleaning surface; right and left differentially driven drive wheels (410, 420); a cleaning assembly (500) mounted on the front of the chassis (200); a garbage compartment (610) disposed adjacent to the cleaning assembly (500) and configured to receive agitated waste by the cleaning assembly (500); an anti-shock sensor configured to detect movement in multiple directions; characterized in that the cleaning assembly (500) comprises: a first roller brush (510) rotatably mounted near the front edge (202) of the chassis (200); Y a second roller brush (520) rotatably mounted substantially parallel to the first roller brush (510) and behind it, rotating the first and second roller brushes (510, 520) in opposite directions. 2. The autonomous covering robot (100, 101) according to any of the preceding claims, wherein the cleaning assembly (500) further comprises a brush motor (515) configured to drive the first and second roller brushes (510, 520), the brush motor (515) being arranged near the leading edge (202) of the chassis (200). 3. The autonomous covering robot (100, 101) according to any of the preceding claims, wherein the rear part (220) of the chassis (200) defines a substantially semicircular shape and the axes of the right and left driving wheels (410, 420) are arranged in a central axis (223), defined at the rear (220) of the chassis (200), or behind it. 4. The autonomous covering robot (100, 101) according to claim 3, wherein the drive wheels (410, 420) are arranged less than 9 cm behind the cleaning assembly (500). 5. The autonomous covering robot (100, 101) according to any of the preceding claims, wherein the chassis (200) and a body (300) of the robot together have a length less than 23 cm and a width less than 19 cm 6. The autonomous covering robot (100, 101) according to any of the preceding claims, further comprising a power supply (160) arranged at the rear (220) of the chassis (200) substantially between the right drive wheels and left (410, 420). 7. The autonomous covering robot (100, 101) according to claim 6, wherein the power supply (160) is arranged adjacent to the garbage compartment (610) and behind it. 8. The autonomous covering robot (100, 101) according to any of the preceding claims, further comprising at least one proximity sensor (730) carried by a dominant side of the robot (100, 101), the sensor (s) proximity (730) react to an obstacle substantially close to a body (300) of the robot, where a robot controller (450) is configured to alter a direction of travel in response to a signal received from the proximity sensor (s) ( 730). 9. The autonomous covering robot (100, 101) according to any of the preceding claims, further comprising: at least one uneven sensor (710) carried by a front part (310) of a robot body (300) and disposed substantially near a leading edge (302) of the body (300), where the uneven sensor (s) ( 710) react to a potential slope in front of the robot (100, 101), where the drive system (400) is configured to alter a direction of travel in response to a signal received from the slope sensor (710) that indicates a potential slope; Y 5 10 fifteen twenty 25 30 35 at least one uneven sensor (710) carried by a rear part (320) of the body (300) of the robot and disposed substantially near a rear edge (304) of the body (300), where the uneven sensor (710) ) react to a potential slope behind the robot (100, 101), where the drive system (400) is configured to alter a direction of travel in response to a signal received from the slope sensor (710) indicating a potential slope. 10. The autonomous covering robot (100, 101) according to claim 9, comprising right and left front slope sensors (710A, 710B) arranged in the respective right and left corners of a front part (210, 310 ) of the robot (100, 101) and right and left rear slope sensors (710C, 710D) arranged directly behind the respective right and left drive wheels (410, 420). 11. The autonomous covering robot (100, 101) according to any of the preceding claims, wherein the robot (100, 101) employs a control and software architecture that has different behaviors that are executed by a mediator (1005 ) on a robot controller (450), and in which one of the behaviors is executed when the rear elevation sensors (710A, 710B) of the robot are triggered, in which preferably if a left drop sensor is triggered, the robot (100, 101) is arranged so that it rotates clockwise and if a right drop sensor is triggered, the robot (100, 101) is arranged so Turn counterclockwise. 12. The autonomous covering robot (100, 101) according to any of the preceding claims, wherein the rear part (220) of the chassis (200) defines a substantially semicircular shape and the robot (100, 101) further comprises a crazy wheel (722) located at least 1/3 of the radius of the rear (220) substantially semicircular in front of the driving wheels (410, 420), wherein preferably the idler wheel (722) comprises a stasis detector (720) comprising: a magnet (724) disposed in or on the idler wheel (722); Y a magnet detector (726) arranged adjacent to the crazy wheel (722) to detect the magnet (724) while turning the crazy wheel (722). 13. The autonomous covering robot (100, 101) according to claim 1, wherein the anti-shock sensor (800) is configured to detect frontal, side and rear shocks. 14. The autonomous covering robot (100, 101) according to claim 1, wherein each roller brush (510, 520) comprises right and left end brushes (540) extending from the respective ends (512 , 514, 522, 524) of the roller brush (510, 520) beyond a lateral extension of the body (300), each end brush (540) extending with an angle O between 0 ° and approximately 90 ° relative to a longitudinal axis (513, 523) defined by the roller brush (510, 520). 15. The autonomous covering robot (100, 101) according to any of the preceding claims, wherein the cleaning assembly (500) further comprises right and left roller brushes (550, 560) rotatably mounted orthogonally in relation to the front brush (510), substantially close to the respective right and left side edges (306, 308) of the chassis (200).